Travel cylinder and gripper actuator with triple guide rods

ABSTRACT

A material handling device of increased rigidity and carrying capacity which includes a travel cylinder assembly and actuator for a workpiece gripper. A hanger supports spaced bushing plates mounting parallel spaced bushings containing housings to slidably receive three guide rods. Two, thereof, are arranged laterally and a third therebetween and below. The one ends of the guide rods are bracketed together. The other ends of the guide rods are secured to the gripper actuator and movable therewith on activation of the travel cylinder. A modification provides for successive locating feed of the gripper actuating assembly with actuation of the gripper jaws thereafter. A further modification includes a further guide or carrier rod mounting the jaw actuating assembly for a more extended locating feed preceding actuation of the jaws.

United States Patent 1 Blatt 1 May 22,1973

1541 TRAVEL CYLINDER AND GRIPPER ACTUATOR WITH TRIPLE GUIDE RODS [76]Inventor: Leland F. Blatt, 7 90 Shoreham Road, Grosse Pointe Woods,Mich. 48236 [22] Filed: Feb. 24, 1972 [21] Appl. No.: 228,849

[52] US. Cl. ..2l4/1 BB [51] Int. Cl ..B66c l/42 [58] Field of Search..2l4/l B, 1 BB [56] References Cited UNITED STATES PATENTS 1,575,1853/1926 Stenhouse ..2l4/1 BB 2,763,229 9/1956 3,013,835 12/1961 3,260,3767/1966 3,648,854 3/1972 Potter ..2l4/l BB Primary ExaminerRobert B.Reeves Assistant Examiner-Frederick R. Handren Attorney-Robert A. Sloman[57] ABSTRACT A material handling device of increased rigidity andcarrying capacity which includes a travel cylinder assembly and actuatorfor a workpiece gripper. A hanger supports spaced bushing platesmounting parallel spaced bushings containing housings to slidablyreceive three guide rods. Two, thereof, are arranged laterally and athird therebetween and below. The one ends of the guide rods arebracketed together. The other ends of the guide rods are secured to thegripper actuator and movable therewith on activation of the travelcylinder.

A modification provides for successive locating feed of the gripperactuating assembly with actuation of the gripper jaws thereafter. Afurther modification includes a further guide or carrier rod mountingthe jaw actuating assembly for a more extended locating feed precedingactuation of the jaws.

11 Claims, 8 Drawing Figures Patented May 22, 1973 4 Sheets-Sheet 1 RmM\\ m m g IFL v \w #QE &

Patented May 22, 1973 4 Sheets-Sheet f! Patented May 22, 1973 3,734,303

4 Sheets-Sheet 15 Patented May 22, 1973 4 Sheets-Sheet Q mxi TRAVELCYLINDER AND GRIPPER ACTUATOR WITH TRIPLE GUIDE RODS BACKGROUND OF THEDISCLOSURE The present invention is an improvement in the materialhandling device actuator of my US. Pat. No. 3,371,583 dated Mar. 5,1968. The present travel cylinder assembly causes longitudinal feedmovements of an actuator controlling opening and closing of theworkpiece gripper. It is required that there be sufficient stability andrigidity to the assembly to provide proper carrying capacity for theparticular workpiece to be transported to a machine tool such as apress, left there for a machining operation and thereafter, removed fromthe machine tool.

BRIEF DESCRIPTION OF THE INVENTION It is an object of the presentinvention to provide an improved material handling device which includesa travel cylinder assembly and actuator assembly for a workpiece gripperand, wherein, improved guide means are provided; namely, a plurality ofguide rods, at least three. Said guide rods are rigidly interconnectedat their one ends, are slidably and guidably mounted upon bushingsintermediate their ends with the bushings mounted upon a suspendedhousing mounting the travel cylinder and, wherein, the respective otherends of the guide rods are fixedly secured to the actuator.

It is a further object to provide an improved mounting for the guiderods and the elongated ball bushings including suitable housingstherefore with front and rear bushing plates in such a manner that theguide rods are afforded longitudinal support throughout a substantialportion of their length for increased rigidity.

It is another object to provide a gripper locating assembly foroperation after movement of the travel assembly, and with successiveoperation of the gripper actuating assembly.

These and other objects will be seen from the following specificationand claims in conjunction with the appended drawings in which:

FIG. 1 is a fragmentary side elevational view of the present travelcylinder and actuator assembly, partly broken from illustration.

FIG. 2 is a plan view thereof with the workpiece gripper fragmentarilyshown.

FIG. 3 is a right end elevational view thereof.

FIG. 4 is a side elevational view of the travel cylinder assembly, thejaw locating assembly and a modified jaw actuating assembly withassociated jaw assembly being a modification.

FIG. 5 is a plan view thereof, the jaw assembly being shown in dottedlines.

FIG. 6 is a fragmentary side elevational view corresponding to FIG. 4illustrating only the jaw locating cyl' inder assembly and the jawactuating assembly and associated jaw assembly.

FIG. 7 is a fragmentary partly broken away and sectioned plan viewthereof.

FIG. 8 is a fragmentary side elevational view of a modified jaw locatedassembly.

It will be understood that the above drawings illustrate merelypreferred embodiments of the invention, and that other embodiments arecontemplated within the scope of the claims hereafter set forth.

DETAILED DESCRIPTION Referring to the drawing; FIGS. 1, 2 and 3, thetravel cylinder assembly is generally indicated at 11, the jaw actuatorassembly at 13 and the workpiece gripper assembly at 15, in dottedlines.

Though not forming a part of the present invention, the gripper headincludes body 17 secured to actuator assembly 13 by fasteners 19 and apair of oppositely arranged pivotal workpiece engaging jaws 21. Thelongitudinally reciprocal clevis 23 is connected to the pivotal jaws bya linkage 25, the clevis being reciprocated within body 17 by reciprocalmovements of the actuator piston rod 7l-73 hereafter described.

TRAVEL CYLINDER ASSEMBLY Cylinder 27 at one end includes cap 29 withaxial port 31. Cap 33 at its opposite end and associated gland 35 issupported and secured within the upright front bushing plate 37 andanchored in place by retainer plate 39 and cylinder tie rods 41.

Centrally disposed elongated hanger rod 43 is adapted for connection toa suitable crane or other overhead support and at one end extendsthrough front bushing plate 37 and is secured thereto by fastener 45.

Hanger rod support 47 is secured to and depends from its other end andis secured to the cylinder through tie rods 41.

The hanger rod at one end includes a port 49 which communicates with abore 51 through said rod adapted for communication with the opposite endof cylinder 27 for pressurizing same, as at 53.

The reciprocal piston 55 includes the axial first piston rod 57 whichextends through rod end cap 33 and corresponding gland 35 projectingoutwardly therefrom and terminating in the T-connector 59 whichinterlocks within rod bracket 61 secured to rear plate 63 of actuatorassembly 13.

JAW ASSEMBLY ACTUATOR The actuator for the workpiece gripper 15 includesa front plate 65 which is upright, parallel to and spaced from rearplate 63. Supported and sealed between said plates is actuator cylinder67 with reciprocal piston 69 and second piston rod 71. The latterprojects forwardly of said front plate and terminates in the T-connector73 and is adapted for axial interlock and connection with reciprocalclevis 23 forming a part of workpiece gripper assembly 15. Y

GUIDE ROD MOUNTING ASSEMBLY Upright rear bushing plate 75 is parallel toand spaced rearwardly of front bushing plate 37 and is suspended fromhanger rod 43 by the two-piece rod clamp 77.

A series of parallel spaced longitudinally extending bushing housings 79are interposed between bushing plates 37 and 75 and are retained by thecorresponding tie rods 81.

There are a first pair of opposed laterally related bushing housings 79best shown in FIG. 2. Arranged between said first bushing housings andthere-below is the third bushing housing 79. Each of said bushinghousings receives the elongated ball bushings 83.

The respective elongated longitudinally extending parallel guide rodsare slidably supported and movably extend through the respectiveelongated ball bushings within their respective housings mounted andsupported between the front and rear bushing plates. The rear ends ofthe respective guide rods extend through and are suitably secured byfasteners 89 to the upright guide rod bracket 87.

Stop bumpers 91 are mounted upon the upper opposed laterally relatedguide rods adjacent bracket 87 and are adapted on longitudinal movementfor operative engagement with rear bushing plate 75. The laterallyrelated opposed parallel guide rods 85, namely the upper pair of guiderods shown in FIG. 2 extend through the rear and front plates 63, 65 ofthe gripper actuator assembly and are affixed to the said front platesby fasteners 93. Lower guide rod 85 extends through plate 63 and issecured thereto at 94.

One of the upper guide rods as viewed in FIG. 2 has a fluid pressureintake port 95 which communicates with an elongated passage 97 adaptedto pressurize one end of the actuator cylinder 67. The other upper guiderod 85 has a port 99 communicating with an elongated passage 101 thereinadapted for pressurizing the opposite end of actuator cylinder 67.

As shown schematically, the valve 103, FIG. 2 is adapted for connectionto a source of fluid pressure such as compressed air and by a pair ofseparate conduits 105 and 107 respectfully connects the ports 95 and 99.

There is schematically shown in FIGS. 1 and 2 an additional controlvalve 109 adapted for connection to a source of pressure fluid such ascompressed air and which through one conduit 111 connects the blind endcylinder port 31, FIG. 2, and through an additional conduit 113,connects the hanger rod port 49 for pressurizing the opposite end ofcylinder 27, FIG. 1.

The basic construction for providing increased rigidity and carryingcapacity for the jaw actuator assembly as well as the workpiece grippingassembly connected thereto is primarily effected by the three guide rods85 supportably and guidably mounted within elongated ball bushings 83within corresponding parallel spaced housings 79 which at their ends aremounted within and between the front and rear bushing plates 37 and 75.

The said bushing plates are, furthermore, fixedly secured to thecylinder 27 and its connected parts. The relatively stationary hangerrod 43 is also suitably connected to said cylinder as well as therespective front and rear bushing plates to providea rigid construction.

As viewed in the drawing, the three elongated guide rods; namely, thelaterally opposed pair of rods 85 as well as the centrally disposedlower guide rod are all guidably and slidably supported throughout aconsiderable portion of their length by virtue of the elongated bushinghousings and their supporting plates.

Accordingly, on the initial operation of the cylinder 27, forwardmovement of the first piston rod 57 causes the actuator assembly 63, 65,67 as a unit to move forwardly as supported by the forward ends of allthree guide rods. This forward movement is continued until the stops 91operatively engage the rear bushing plate 75. At that time, thesecondary valve 103 is actuated for pressurizing the respective ports 95or 99 to either close or to open the respective jaws 21.

MODIFICATION Modification of the structure shown in FIGS. 1, 2 and 3 isillustrated in FIGS. 4 through 7. Here the jaw actuator 63, 65, 67 ofFIGS. 1 and 2 has been replaced by a very similar jaw locating cylinderassembly 63, 65, 67 FIGS. 6, which is supportably mounted upon the lowerand third longitudinally feedable guide rod 119 and affixed thereto asby fastener 123.

While the jaw actuator assembly 6365-67 of FIG. 2 was adapted only foropening and closing the jaws 21 of the gripper, it is noted that the jawlocated assembly 63-65-67 of FIG. 6 is adapted on initial activation ofits piston rod 71, being the second piston rod, for locating the jaws128 and the jaw actuating assembly 125 forwardly thereof. This thereforeprovides an additional locating travel in the illustrative embodiment of4 inches, when the assembly 125 contacts the adjustable stop assembly121 on rod 119. This stops forward movement of the jaw body, but allowscontinued forward movement of piston 71 into the jaw actuating assembly125 connected to the third piston rod 143 for closing the gripper jaws128.

The jaw actuating assembly 125 of FIG. 6 is shown in my copending US.Pat. application Ser. No. 97,599 filed Aug. 12, 1970.

The complete combination of the travel cylinder assembly, the jawlocating assembly, the jaw actuating assembly 125 and the jaw assembly127 is shown in FIG. 4.

As above described with respect to FIGS. 1, 2 and 3, and as shown inFIGS. 4 and 5, the initial activation of the travel cylinder assemblycauses longitudinal forward feed movement of the respective guide rodsand third bottom guide rod 119 until the stops 91 on said guide rodsengage the rear bushing plate 75. Thereafter subsequent activation ofthe cylinder 67 through valve 103 and conduit 105 through port 95 andpassage 97 activates the piston 69, FIG. 7, for further longitudinallocating movements of the jaw assembly and its connected jaw actuatingassembly 125.

In this case since the jaw locating cylinder assembly 67 is anchored at123 to the lower guide rod 119 further activation of the piston 69projects the piston rod 71 forwardly causing further locatinglongitudinal movement of the jaw actuating assembly 125 until it hitsthe stop 121 adjustably anchored at the outer end of the lower guide rod119.

JAW ACTUATING ASSEMBLY The jaw actuating assembly 25 includes body 126having a depending boss 129, FIG. 6, with longitudinal bore 131. Guiderod bushing 133 is nested in said bore and retained therein by bushingretainer 135 and slidably receives the lower guide rod 119.

Thus, on activation of piston rod 71, the jaw actuating assembly 125moves forwardly until it engages the stop bumper 121, which isadjustable for time positioning and, locating of the gripper 127adjacent to the machine tool for engaging a workpiece to be removed.

JAW ACTUATOR The jaw actuator 125, FIGS. 4 and 5, is shown in furtherdetail in FIGS. 6 and 7 and includes longitudinal bore 137 within theouter end of which is bushing 139 anchored at 141, adapted to receivethe end of the second piston rod 71.

Reciprocal third piston rod 143 is axially positioned within bore 137and its rear extension 145 is threaded into the outer end of the secondpiston rod 71 and secured thereto by the transverse pin 147.

The other end of third piston rod 143 projects outwardly of bore 149 ofbody 126 and terminates in the T-connector 151 for selective interlockwith the reciprocal clevis linkage mechanism which operates the jaws 128in the manner above described with respect to FIGS. 1, 2 and 3.

Washer 155 is loosely nested within bore 137 and surrounds the thirdpiston rod and bears against bushing 139 and the outer end of secondpiston rod 71.

Coiled compression spring 153 is interposed between said washer and theinner end of the body normally resisting longitudinal movement of thewasher and second piston rod and connected third piston rod.

In this construction by continued advancing of the second piston rod 71,the actuator housing 125 moves forwardly until it engages the adjustablestop 121. At that time, further longitudinal movement of the piston rod71 causes longitudinal outward movement of the third piston rod 143 forclosing the jaws 128 upon a workpiece, as for example,'within a machinetool after a stamping or other operation.

By reversing the pressurizing of travel cylinder assembly, its pistonrod 57 retracts for removing the workpiece held by the jaws 128 from themachine too and retracting to a predetermined position where the travelcylinder assembly stops. This rearward movement of the piston rod 57 hascaused the retracting movement of the jaw assembly 127, the jawactuating assembly 125 and the jaw locating assembly 63-65-67.

At this point, if the jaw locating cylinder assembly is energized formovement of the piston rod 71 in the opposite direction tending to openthe jaws 128, this action is promptly facilitated by expansion of thecoil spring 153 within the actuator body 125 for quick opening of thejaws and the dropping of the workpiece. At this time, the cylinderassembly is effective to cause further retraction of the second pistonrod 71 moving the jaw actuating assembly 125 back to its initialinoperative position.

Here it is seen from the description of FIGS. 4 through 7 that thetravel cylinder through the length of the stroke permitted by its stops91 effects initial positioning of the jaw positioning cylinder assembly63-6- 5-67. Separate energizing of the jaw positioning cylinder assemblycauses jaw actuating assembly 125 to move forwardly to its finallocation engaging the stop 121, after which the jaws 128 areautomatically closed.

This additional positioning movement of the jaw actuating assembly inthe illustrative embodiment is 4 %inch travel maximum. This embodimentprovides maximum rigidity but limits the primary jaw stroke travel shownin FIG. 6.

This type of unit may be applied to loading a part into small presses,the part being prepositioned. The primary jaw travel of 4 inches picksthe part up and the travel cylinder can be actuated to load the partinto a particular tool and die, at which time, the jaw actuatingcylinder reverses dropping the part on location and with the travelcylinder returning the unit to a rest position.

The unit may also be applied as a part extractor by having the travelcompletely outside of the work die. When the part is completed, the 4%inch travel could pick up the part in the die, eliminating the time ofthe longer travel cylinder which, at this time, could actuatewithdrawing the part gripped in the jaw to a drop positioning, the jawopening and dropping the part and the travel cylinder repositioning therods for the next cycle.

MODIFICATION II A second consideration is illustrated with respect toFIG. 8. Here the third guide rod 119 A is cutback and is attached to theblind end of the extracting or locating cylinder; namely, to the backplate 63 as by the fastener 161.

The front plate of the locating cylinder at 65 is provided with alongitudinal bore for the bearing guide 167 slidably receiving carrierrod 169. This rod is aligned with the lower guide rod 1 19 A, isarranged forwardly thereof and is slidably positioned through guidebearing 167.

The forward end of the carrier rod extends through longitudinal bore 171in the jaw actuating assembly and is secured thereto by fastener 173.

The stop bumper 175 is secured upon the end of carrier rod 169 to, thus,by its engagement with bearing guide 167 limit forward movement of jawactuating assembly 125.

The function and operation of the jaw actuator is the same, since whenthe jaw actuating assembly is restrained against further forwardmovement, on continued longitudinal movement of the second piston rod71, said piston rod moves forwardly actuating the third piston rod 143,FIG. 7, for actuating the jaw assembly.

In this modification, by the use of the fourth shortened lower guide rod119 A and the use of the longitudinally aligned carrier rod 169, it isseen that there can be considerably longer jaw travel until the stop 175on the carrier rod engages bearing 167.

Since the carrier rod is bolted to the jaw actuating assembly 125 and isslidably mounted upon the front plate 65 of the locating cylinder 67,there will be continued travel of the jawactuator assembly 125 until thestop 175 engages bearing 167. At this time, the jaws are actuated toclose on the workpiece.

Having described my invention, reference should be had to the followingclaims.

I claim:

1. In a travel cylinder and actuator for a workpiece gripper;

a travel cylinder assembly including an upright front bushing plate;

an upright rear bushing plate longitudinally spaced therefrom andsecured thereto;

a pair of parallel laterally spaced longitudinally extending bushinghousings, and a third bushing housing centrally disposed between,parallel to and below said pair of bushing housings;

said bushing housings extending between and secured to said bushingplates;

ball bushings in each housing;

a cylinder having a reciprocal first piston rod projecting therefrominterposed between said pair of bushing housings and at one end securedto said front bushing plate;

a hanger rod parallel to, spaced above said cylinder and at one endsecured to said cylinder, extending through and secured to said bushingplates;

a series of guide rods extending through said bushings respectively;

an upright guide rod bracket interposed between and secured to the oneends of said guide rods;

an actuating cylinder assembly coaxial to said travel cylinder assembly,consisting of an upright front bracket;

an upright rear bracket spaced therefrom;

and a cylinder with reciprocal second piston rod extending between saidbrackets and secured thereto;

said first piston rod secured to said rear bracket;

said second piston rod adapted for securing to and actuating a workpiecegripper;

a pair of said guide rods at their other ends extending through bothsaid brackets and secured thereto;

the third of said guide rods extending through said rear bracket andsecured thereto.

2. In the travel cylinder and actuator assembly of claim 1, the securingof said bushing plates to each other including a series of tie rods.

3. In the travel cylinder and actuator assembly of claim 1, a stopbumper on said opposed pair of guide rods bearing against the guide rodbracket, and adapted for operative engagement with said rear bushingplate.

4. In the travel cylinder and actuator assembly of claim 1, a clampinterposed between said hanger rod and said rear bushing plate.

5. In the travel cylinder and actuator assembly of claim 1, said hangerrod being hollow adapted for pressurizing one end of said travelcylinder; said opposed laterally related guide rods being hollow adaptedto respectively pressurize opposite ends of said actuator cylinder.

6. In an extractor-feeder actuating and positioning unit for a workpiecegripper, the combination:

a travel assembly including a cylinder and reciprocal first piston rod;

a jaw positioning assembly axially connected to said first piston rod,including a cylinder and a reciprocal second piston rod;

and a jaw actuating assembly having a reciprocal third piston rodaxially projecting therefrom connected to said second piston rod,adapted on reciprocal movement to control opening and closing of thejaws of a workpiece gripper;

said travel assembly including guide and support means mounting itscylinder;

a hanger rod above and parallel to said cylinder and connected theretoand to said guide and support means;

a pair of parallel laterally spaced reciprocal guide rods, and a thirdreciprocal guide rod disposed between, parallel to and below said pairof guide rods;

a bracket fixedly interconnecting the one ends of said guide rods;

stop bumpers on said guide rods adjacent said bracket adapted to engagesaid support and guide means and limit forward movement of said guiderods and jaw positioning assembly;

said guide rods slidably extending through said guide and support means;

said jaw positioning assembly cylinder including spaced front and rearsupport plates;

said guide rods extending transversely through said support plates andsecured thereto;

said jaw positioning cylinder moving in unison with said guide rods;

said third guide rod extending forwardly of said jaw positioningassembly;

said jaw actuating assembly including a body reciprocally mountedupon-and movable along said third guide rod;

a stop bumper adjacent the end of said third guide rod limiting forwardpositioning movement of said jaw actuating assembly;

said body having a bore slidably receiving the free end of said secondpiston rod;

said third piston rod extending through said bore, at one end connectedto said second piston rod and at its other end projecting from said jawactuating assembly adapted for longitudinal movement in said bore withsaid second piston rod to operatively control the jaws of a gripper headafter said body has engaged said latter bumper;

first pneumatic means adapted to selectively pressurize opposite ends ofsaid travel assembly cylinder for effecting initial feed movements ofsaid jaw positioning assembly and jaw actuating assembly;

and second pneumatic means adapted to selectively pressurize oppositeends of said jaw positioning assembly cylinder for advancing andretracting said jaw actuating assembly relative to said travel assemblyand adapted on stopping thereof to successively actuate said jawactuating assembly.

7. In the extractor-feeder actuating positioning unit of claim 6, meansadjustably mounting said latter bumper stop on the end of said thirdguide rod for fine positioning of said jaw actuating assembly.

8. In the extractor-feeder actuating and positioning unit of claim 6,mounting of said jaw actuating assembly body on said third guide rodincluding a longitudinal bore in said body;

and a guide rod bushing retained in said bore receiving said third guiderod.

9. In the extractor-feeder actuator and positioning unit of claim 6, abushing secured within and at one end of said third piston rod boreguidably receiving said second piston rod; a washer nested in said boremovably mounted on said third piston rod and normally bearing againstsaid latter bushing and said second piston rod; and a coil spring insaid bore surrounding said third piston rod and interposed between saidbody and said washer; whereby initial forward movement of said thirdpiston rod relative to said body closing said jaws, compresses saidspring, whereupon, pressurizing said travel cylinder assembly forretraction of said first and second piston rods, said spring expands toassist in a quick retraction of said-third piston rod and opening ofsaid jaws.

10. In an extractor-feeder actuating and positioning unit for aworkpiece gripper, the combination:

a travel assembly including a cylinder and reciprocal first piston rod;

a jaw positioning assembly axially connected to said first piston rod,including a cylinder and a reciprocal second piston rod;

and a jaw actuating assembly having a reciprocal third piston rodaxially projecting therefrom connected to said second piston rod,adapted on reciprocal movement to control opening and closing of thejaws of a workpiece gripper;

said travel assembly including guide and support means mounting itscylinder;

a hanger rod above and parallel to said cylinder and connected theretoand to said guide and support means;

a pair of parallel laterally spaced reciprocal guide rods, and a thirdreciprocal guide rod disposed between, parallel to and below said pairof guide rods;

a bracket fixedly interconnecting the one ends of said guide rods;

stop bumpers on said guide rods adjacent said bracket adapted to engagesaid support and guide means and limit forward movement of said guiderods and jaw positioning assembly;

said guide rods slidably extending through said guide and support means;

said jaw positioning assembly cylinder including spaced front and rearsupport plates;

said pair of guide rods extending transversely through said supportplates and secured thereto;

the third guide rod extending through, secured to and terminating atsaid rear support plate;

said jaw positioning cylinder moving in unison with said guide rods;

a carrier rod spaced forwardly of and aligned with said third guide rodslidably extending through said front support plate, forwardly thereofand at one end, secured to said jaw actuating assembly;

said jaw actuating assembly including a body secured to said carrierrod;

the latter adapted for reciprocal movement upon and with respect to saidjaw positioning assembly;

a stop bumper adjustably mounted adjacent the other end of said carrierrod for limiting forward posi tioning movement of said jaw actuatingassembly on engagement with said front support plate;

said body having a bore slidably receiving the free end of said secondpiston rod;

said third piston rod extending through said bore, at one end connectedto said second piston rod and at its other end projecting from said jawactuating assembly adapted for longitudinal movement in said bore withsaid second piston rod to operatively control the jaws of a gripper headafter the carrier rod stop bumper has engaged said front support plate;I

first pneumatic means adapted to selectively pressurize opposite ends ofsaid travel assembly cylinder for effecting initial feed movements ofsaid jaw positioning assembly and jaw actuating assembly;

and second pneumatic means adapted to selectively pressurize oppositeends of said jaw positioning assembly cylinder for advancing andretracting said jaw actuating assembly relative to said travel assemblyand adapted on stopping thereof to successively actuate said jawactuating assembly.

11. In the extractor-feeder unit of claim 10, a bearing guide securedupon said front support plate slidably receiving said carrier rod.

1. In a travel cylinder and actuator for a workpiece gripper; a travelcylinder assembly including an upright front bushing plate; an uprightrear bushing plate longitudinally spaced therefrom and secured thereto;a pair of parallel laterally spaced longitudinally extending bushinghousings, and a third bushing housing centrally disposed between,parallel to and below said pair of bushing housings; said bushinghousings extending between and secured to said bushing plates; ballbushings in each housIng; a cylinder having a reciprocal first pistonrod projecting therefrom interposed between said pair of bushinghousings and at one end secured to said front bushing plate; a hangerrod parallel to, spaced above said cylinder and at one end secured tosaid cylinder, extending through and secured to said bushing plates; aseries of guide rods extending through said bushings respectively; anupright guide rod bracket interposed between and secured to the one endsof said guide rods; an actuating cylinder assembly coaxial to saidtravel cylinder assembly, consisting of an upright front bracket; anupright rear bracket spaced therefrom; and a cylinder with reciprocalsecond piston rod extending between said brackets and secured thereto;said first piston rod secured to said rear bracket; said second pistonrod adapted for securing to and actuating a workpiece gripper; a pair ofsaid guide rods at their other ends extending through both said bracketsand secured thereto; the third of said guide rods extending through saidrear bracket and secured thereto.
 2. In the travel cylinder and actuatorassembly of claim 1, the securing of said bushing plates to each otherincluding a series of tie rods.
 3. In the travel cylinder and actuatorassembly of claim 1, a stop bumper on said opposed pair of guide rodsbearing against the guide rod bracket, and adapted for operativeengagement with said rear bushing plate.
 4. In the travel cylinder andactuator assembly of claim 1, a clamp interposed between said hanger rodand said rear bushing plate.
 5. In the travel cylinder and actuatorassembly of claim 1, said hanger rod being hollow adapted forpressurizing one end of said travel cylinder; said opposed laterallyrelated guide rods being hollow adapted to respectively pressurizeopposite ends of said actuator cylinder.
 6. In an extractor-feederactuating and positioning unit for a workpiece gripper, the combination:a travel assembly including a cylinder and reciprocal first piston rod;a jaw positioning assembly axially connected to said first piston rod,including a cylinder and a reciprocal second piston rod; and a jawactuating assembly having a reciprocal third piston rod axiallyprojecting therefrom connected to said second piston rod, adapted onreciprocal movement to control opening and closing of the jaws of aworkpiece gripper; said travel assembly including guide and supportmeans mounting its cylinder; a hanger rod above and parallel to saidcylinder and connected thereto and to said guide and support means; apair of parallel laterally spaced reciprocal guide rods, and a thirdreciprocal guide rod disposed between, parallel to and below said pairof guide rods; a bracket fixedly interconnecting the one ends of saidguide rods; stop bumpers on said guide rods adjacent said bracketadapted to engage said support and guide means and limit forwardmovement of said guide rods and jaw positioning assembly; said guiderods slidably extending through said guide and support means; said jawpositioning assembly cylinder including spaced front and rear supportplates; said guide rods extending transversely through said supportplates and secured thereto; said jaw positioning cylinder moving inunison with said guide rods; said third guide rod extending forwardly ofsaid jaw positioning assembly; said jaw actuating assembly including abody reciprocally mounted upon and movable along said third guide rod; astop bumper adjacent the end of said third guide rod limiting forwardpositioning movement of said jaw actuating assembly; said body having abore slidably receiving the free end of said second piston rod; saidthird piston rod extending through said bore, at one end connected tosaid second piston rod and at its other end projecting from said jawactuating assembly adapted for longitudinal movement in said bore withsaid second pistOn rod to operatively control the jaws of a gripper headafter said body has engaged said latter bumper; first pneumatic meansadapted to selectively pressurize opposite ends of said travel assemblycylinder for effecting initial feed movements of said jaw positioningassembly and jaw actuating assembly; and second pneumatic means adaptedto selectively pressurize opposite ends of said jaw positioning assemblycylinder for advancing and retracting said jaw actuating assemblyrelative to said travel assembly and adapted on stopping thereof tosuccessively actuate said jaw actuating assembly.
 7. In theextractor-feeder actuating positioning unit of claim 6, means adjustablymounting said latter bumper stop on the end of said third guide rod forfine positioning of said jaw actuating assembly.
 8. In theextractor-feeder actuating and positioning unit of claim 6, mounting ofsaid jaw actuating assembly body on said third guide rod including alongitudinal bore in said body; and a guide rod bushing retained in saidbore receiving said third guide rod.
 9. In the extractor-feeder actuatorand positioning unit of claim 6, a bushing secured within and at one endof said third piston rod bore guidably receiving said second piston rod;a washer nested in said bore movably mounted on said third piston rodand normally bearing against said latter bushing and said second pistonrod; and a coil spring in said bore surrounding said third piston rodand interposed between said body and said washer; whereby initialforward movement of said third piston rod relative to said body closingsaid jaws, compresses said spring, whereupon, pressurizing said travelcylinder assembly for retraction of said first and second piston rods,said spring expands to assist in a quick retraction of said third pistonrod and opening of said jaws.
 10. In an extractor-feeder actuating andpositioning unit for a workpiece gripper, the combination: a travelassembly including a cylinder and reciprocal first piston rod; a jawpositioning assembly axially connected to said first piston rod,including a cylinder and a reciprocal second piston rod; and a jawactuating assembly having a reciprocal third piston rod axiallyprojecting therefrom connected to said second piston rod, adapted onreciprocal movement to control opening and closing of the jaws of aworkpiece gripper; said travel assembly including guide and supportmeans mounting its cylinder; a hanger rod above and parallel to saidcylinder and connected thereto and to said guide and support means; apair of parallel laterally spaced reciprocal guide rods, and a thirdreciprocal guide rod disposed between, parallel to and below said pairof guide rods; a bracket fixedly interconnecting the one ends of saidguide rods; stop bumpers on said guide rods adjacent said bracketadapted to engage said support and guide means and limit forwardmovement of said guide rods and jaw positioning assembly; said guiderods slidably extending through said guide and support means; said jawpositioning assembly cylinder including spaced front and rear supportplates; said pair of guide rods extending transversely through saidsupport plates and secured thereto; the third guide rod extendingthrough, secured to and terminating at said rear support plate; said jawpositioning cylinder moving in unison with said guide rods; a carrierrod spaced forwardly of and aligned with said third guide rod slidablyextending through said front support plate, forwardly thereof and at oneend, secured to said jaw actuating assembly; said jaw actuating assemblyincluding a body secured to said carrier rod; the latter adapted forreciprocal movement upon and with respect to said jaw positioningassembly; a stop bumper adjustably mounted adjacent the other end ofsaid carrier rod for limiting forward positioning movement of said jawactuating assembly on engagement with said front support plAte; saidbody having a bore slidably receiving the free end of said second pistonrod; said third piston rod extending through said bore, at one endconnected to said second piston rod and at its other end projecting fromsaid jaw actuating assembly adapted for longitudinal movement in saidbore with said second piston rod to operatively control the jaws of agripper head after the carrier rod stop bumper has engaged said frontsupport plate; first pneumatic means adapted to selectively pressurizeopposite ends of said travel assembly cylinder for effecting initialfeed movements of said jaw positioning assembly and jaw actuatingassembly; and second pneumatic means adapted to selectively pressurizeopposite ends of said jaw positioning assembly cylinder for advancingand retracting said jaw actuating assembly relative to said travelassembly and adapted on stopping thereof to successively actuate saidjaw actuating assembly.
 11. In the extractor-feeder unit of claim 10, abearing guide secured upon said front support plate slidably receivingsaid carrier rod.